Avoid stopping vehicle in front of speed bump

[lchojnack]

As described in autowarefoundation/autoware.universe#2661 the vehicle detects a speed bump as an obstacle.
Generally, the speed bumps are defined in lanelet2 as follows:

  <way id="4568">
    <nd ref="4564"/>
    <nd ref="4565"/>
    <nd ref="4566"/>
    <nd ref="4567"/>
    <tag k="type" v="speed_bump"/>
    <tag k="area" v="yes"/>
    <tag k="height" v="0.15"/>
  </way>

In Autoware, there is a feature that should detect the speed bump and the vehicle should slow down and pass the speed bump (autowarefoundation/autoware.universe#647). When this feature is enabled, behavior_velocity_planner node correctly detect the speed bump but the obstacle_stop_planner node treat the speed bump as obstacle and stop the vehicle as in the video below

vokoscreenNG-2023-01-16_12-58-35_reduced.mp4

I'm opened this discussion, in order to find the best way how to solve stopping the vehicle in front of speed bump.

[kosuke55]

The following came to mind quickly.

• use other ground segmentation algorithms or change the parameters
  • https://autowarefoundation.github.io/autoware.universe/main/perception/ground_segmentation/
• improve ground segmentation algorithms
• use vector_map_inside_area_filter
  • https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/vector-map-inside-area-filter/
  • need to support speed_bump tag or create overlapped no_obstacle_segmentation_area
• use crop_box_filter
  • https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter/
  • need to convert to 3d bbox
• use compare_map_segmentation
  • https://autowarefoundation.github.io/autoware.universe/main/perception/compare_map_segmentation/
  • the docs is only for elevation_map but we also have a node that compares with pcd map.